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Zero copy for Eigen::Matrix3XT and Eigen::Map<const Eigen::Matrix3XT> #43

Merged
merged 11 commits into from
Sep 10, 2015
Merged

Zero copy for Eigen::Matrix3XT and Eigen::Map<const Eigen::Matrix3XT> #43

merged 11 commits into from
Sep 10, 2015

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simonlynen
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  • Make nabo a template of the cloud type.
  • Add explicit instantiation for some types:
    • Eigen::MatrixXf
    • Eigen::MatrixXd
    • Eigen::Matrix3Xf
    • Eigen::Matrix3Xd
    • Eigen::Map<const Matrix3Xf, Eigen::Aligned>
    • Eigen::Map<const Eigen::Matrix3Xd, Eigen::Aligned>
  • Added helpers to test to allow testing these types.
  • Fixed opencl implementation, but one method is not implemented and runtime crashes occur on my machine.

@simonlynen
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@HannesSommer @tcies ptal

@HannesSommer
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Oh my, this is pretty big... I couldn't do a thorough review. But for my time budget: lgtm.

@simonlynen
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@dymczykm could you take a pass please?

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@idryanov ptal

idryanov
idryanov reviewed Sep 10, 2015
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nabo/nabo.h
@@ -266,6 +268,7 @@ namespace Nabo
//! the high bound of the search space (axis-aligned bounding box)
const Vector maxBound;


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revert?

@idryanov
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LGTM. Do you have unit tests that check the behavior with the default type (MatrixXf)?

@simonlynen
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@HannesSommer @idryanov thanks for the review.

@idryanov For the 3d-data I test the types: MatrixXf, Matrix3Xf and Map<const Matrix3Xf>
https://github.com/ethz-asl/libnabo/blob/feature/zero_copy/tests/knnvalidate.cpp#L243-L245

simonlynen added a commit that referenced this pull request Sep 10, 2015
@simonlynen
Merge pull request #43 from ethz-asl/feature/zero_copy
8437511 
Zero copy for Eigen::Matrix3XT and Eigen::Map<const Eigen::Matrix3XT>
@simonlynen simonlynen merged commit 8437511 into master Sep 10, 2015
@simonlynen simonlynen deleted the feature/zero_copy branch September 10, 2015 03:49
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3 participants
@simonlynen @HannesSommer @idryanov